version: 66.06
glider: 148
mission: 11
dive: 376
start: 8 2 112 19 59 50
data:
$ID,148
$MISSION,11
$DIVE,376
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-926549.75
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,90
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2920
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,194901,2249.262,-15750.812,23,1.1,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.4
$GPS2,195855,2249.248,-15750.857,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.132
$KALMAN_X,-153413.6,-291.2,2.8,168902.4,-794.6
$KALMAN_Y,80337.6,-344.5,626.3,-78310.7,-89.8
$MHEAD_RNG_PITCHd_Wd,110.5,29787,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.82,0.000,2,0.000,0.000,413,1557,3328,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.3,-7.5,10,120,13.85,2.25,-3.15,0.000,4,0.154,0.046,3058,164,3518,0,0,0,0,0,0
$GC,190,-0.89,-146.0,35.1,-22.6,22,195,0.40,2.05,0.00,0.000,6,0.092,0.019,3145,1509,3520,0,0,0,0,0,0
$GC,459,-0.75,-146.0,73.9,-12.5,46,464,0.12,2.53,0.00,0.000,4,0.112,0.023,3173,3113,3521,0,0,0,0,0,0
$GC,505,-0.88,-146.0,78.7,-8.5,49,510,0.10,2.53,0.00,0.000,6,0.072,0.028,3116,1540,3521,0,0,0,0,0,0
$GC,774,-0.73,-146.0,113.3,-13.3,73,779,0.28,0.00,0.00,0.000,6,0.089,0.000,3180,1539,3522,0,0,0,0,0,0
$GC,1037,-0.80,-146.0,139.6,-9.2,98,1042,0.00,2.50,0.00,0.000,4,0.000,0.024,3180,3117,3523,0,0,0,0,0,0
$GC,1086,-1.03,-146.0,143.6,-7.7,102,1091,0.28,2.50,0.00,0.000,6,0.035,0.028,3094,1552,3523,0,0,0,0,0,0
$GC,1347,-0.84,-146.0,178.4,-13.1,126,1352,0.25,2.22,0.00,0.000,4,0.094,0.039,3153,170,3524,0,0,0,0,0,0
$GC,1379,-0.84,-146.0,182.4,-12.2,128,1384,0.00,2.12,0.00,0.000,6,0.000,0.018,3153,1572,3524,0,0,0,0,0,0
$GC,1657,-0.84,-146.0,208.3,-9.0,149,1662,0.00,2.40,0.00,0.000,4,0.000,0.024,3153,3100,3524,0,0,0,0,0,0
$GC,1691,-0.96,-146.0,211.3,-8.7,149,1696,0.10,2.45,0.00,0.000,6,0.074,0.028,3096,1563,3524,0,0,0,0,0,0
$GC,1943,-0.85,-146.0,241.6,-12.8,155,1948,0.25,2.25,0.00,0.000,4,0.092,0.041,3155,169,3525,0,0,0,0,0,0
$GC,1962,-0.85,-146.0,244.1,-11.4,155,1966,0.00,2.12,0.00,0.000,6,0.000,0.018,3155,1576,3525,0,0,0,0,0,0
$GC,2226,-0.97,-146.0,267.8,-9.0,162,2231,0.12,2.38,0.00,0.000,4,0.061,0.025,3080,3091,3525,0,0,0,0,0,0
$GC,2326,-0.97,-146.0,279.5,-11.3,164,2331,0.22,2.42,0.00,0.000,6,0.082,0.028,3132,1570,3525,0,0,0,0,0,0
$GC,2605,-1.03,-146.0,304.4,-8.5,171,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1570,3525,0,0,0,0,0,0
$GC,2850,-1.10,-146.0,325.0,-8.4,177,2855,0.12,2.42,0.00,0.000,4,0.062,0.027,3070,3089,3525,0,0,0,0,0,0
$GC,2865,-1.10,-146.0,326.6,-8.6,177,2870,0.15,2.42,0.00,0.000,6,0.097,0.029,3104,1575,3525,0,0,0,0,0,0
$GC,3136,-1.10,-146.0,352.5,-9.6,184,3141,0.00,2.42,0.00,0.000,4,0.000,0.028,3103,3084,3523,0,0,0,0,0,0
$GC,3151,-1.10,-146.0,354.1,-9.5,184,3156,0.00,2.42,0.00,0.000,6,0.000,0.031,3104,1579,3523,0,0,0,0,0,0
$GC,3420,-1.10,-146.0,379.1,-9.1,191,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1580,3522,0,0,0,0,0,0
$GC,3664,-1.10,-146.0,402.9,-9.9,197,3668,0.00,2.38,0.00,0.000,4,0.000,0.060,3104,175,3521,0,0,0,0,0,0
$GC,3693,-1.10,-146.0,406.0,-10.3,197,3697,0.00,2.15,0.00,0.000,6,0.000,0.025,3104,1558,3521,0,0,0,0,0,0
$GC,3952,-1.10,-146.0,428.8,-8.7,204,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1559,3519,0,0,0,0,0,0
$GC,4196,-1.10,-146.0,449.3,-8.6,210,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1559,3517,0,0,0,0,0,0
$GC,4441,-1.10,-146.0,470.5,-8.7,216,4446,0.00,2.50,0.00,0.000,4,0.000,0.037,3104,3104,3515,0,0,0,0,0,0
$GC,4465,-1.10,-146.0,472.9,-9.5,216,4470,0.00,2.50,0.00,0.000,6,0.000,0.037,3104,1586,3516,0,0,0,0,0,0
$GC,4725,-1.10,-146.0,494.5,-8.2,223,4729,0.00,2.45,0.00,0.000,4,0.000,0.071,3104,167,3513,0,0,0,0,0,0
$GC,4750,-1.10,-146.0,496.7,-9.5,223,4754,0.00,2.25,0.00,0.000,6,0.000,0.031,3104,1570,3513,0,0,0,0,0,0
$GC,5009,-1.10,-146.0,517.7,-8.0,230,5013,0.00,2.53,0.00,0.000,4,0.000,0.041,3104,3125,3511,0,0,0,0,0,0
$GC,5038,-1.18,-146.0,520.1,-7.9,230,5042,0.00,2.55,0.00,0.000,6,0.000,0.041,3104,1587,3512,0,0,0,0,0,0
$GC,5294,-1.18,-146.0,539.4,-7.6,237,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1587,3510,0,0,0,0,0,0
$GC,5536,-1.18,-146.0,556.9,-7.1,243,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1587,3508,0,0,0,0,0,0
$GC,5780,-1.18,-146.0,573.4,-6.7,249,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1587,3506,0,0,0,0,0,0
$GC,6024,-1.18,-146.0,589.3,-6.6,255,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1587,3505,0,0,0,0,0,0
$STATE,6184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6184,begin apogee
$GC,6192,-0.31,0.0,600.9,7.1,259,6313,0.73,0.00,117.85,0.931,6,0.073,0.000,3270,1380,2920,0,0,0,0,0,0
$STATE,6313,end apogee,CONTROL_FINISHED_OK
$STATE,6313,begin climb
$GC,6316,1.27,146.0,603.9,0.0,262,6448,1.45,2.25,123.43,0.910,4,0.048,0.083,3616,172,2323,0,0,0,0,0,0
$GC,6560,0.97,146.0,587.4,12.6,267,6565,0.30,1.98,0.00,0.000,6,0.096,0.030,3553,1379,2318,0,0,0,0,0,0
$GC,6821,1.03,194.9,566.4,7.7,274,6870,0.00,2.22,42.53,0.877,4,0.000,0.071,3552,170,2124,0,0,0,0,0,0
$GC,6899,0.97,194.9,559.7,10.3,275,6904,0.00,1.98,0.00,0.000,6,0.000,0.029,3552,1383,2123,0,0,0,0,0,0
$GC,7151,1.02,232.9,538.9,8.2,282,7188,0.00,0.00,34.45,0.861,6,0.000,0.000,3552,1384,1970,0,0,0,0,0,0
$GC,7434,1.02,237.7,512.1,9.8,289,7445,0.00,2.12,5.05,0.622,4,0.000,0.066,3552,167,1950,0,0,0,0,0,0
$GC,7457,1.02,237.7,509.4,10.1,289,7461,0.00,1.98,0.00,0.000,6,0.000,0.026,3552,1392,1950,0,0,0,0,0,0
$GC,7725,1.02,237.7,482.3,10.0,296,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1395,1947,0,0,0,0,0,0
$GC,7970,1.03,248.1,458.8,9.5,302,7986,0.00,2.65,10.45,0.755,4,0.000,0.038,3553,2951,1908,0,0,0,0,0,0
$GC,8001,1.14,268.7,455.7,9.1,302,8030,0.15,2.67,20.62,0.802,6,0.054,0.043,3615,1378,1823,0,0,0,0,0,0
$GC,8307,1.05,268.7,414.5,14.2,310,8312,0.20,2.10,0.00,0.000,4,0.092,0.062,3569,161,1819,0,0,0,0,0,0
$GC,8358,1.05,268.7,406.8,13.1,311,8362,0.00,1.95,0.00,0.000,6,0.000,0.025,3569,1373,1819,0,0,0,0,0,0
$GC,8640,1.05,268.7,373.1,11.8,318,8644,0.00,2.08,0.00,0.000,4,0.000,0.060,3569,160,1817,0,0,0,0,0,0
$GC,8674,1.05,268.7,368.8,13.2,318,8678,0.00,1.90,0.00,0.000,6,0.000,0.024,3569,1375,1816,0,0,0,0,0,0
$GC,8933,1.05,268.7,340.3,10.5,325,8937,0.00,2.58,0.00,0.000,4,0.000,0.033,3569,2958,1815,0,0,0,0,0,0
$GC,8984,1.19,278.2,335.2,9.6,326,9000,0.12,2.67,8.25,0.653,6,0.062,0.041,3628,1365,1785,0,0,0,0,0,0
$GC,9268,1.10,278.2,301.2,12.1,333,9270,0.22,0.00,0.00,0.000,6,0.090,0.000,3579,1365,1784,0,0,0,0,0,0
$GC,9508,1.11,283.4,277.1,9.8,339,9521,0.00,2.62,5.70,0.556,4,0.000,0.029,3579,2944,1763,0,0,0,0,0,0
$GC,9537,1.21,307.5,274.4,8.9,339,9567,0.10,2.62,23.52,0.686,6,0.074,0.038,3631,1369,1666,0,0,0,0,0,0
$GC,9841,1.13,307.5,233.5,13.8,347,9846,0.20,2.60,0.00,0.000,4,0.092,0.028,3588,2961,1661,0,0,0,0,0,0
$GC,9881,1.26,307.5,228.7,10.9,347,9887,0.10,2.62,0.00,0.000,6,0.074,0.036,3639,1381,1660,0,0,0,0,0,0
$GC,10131,1.18,307.5,194.7,13.6,354,10136,0.20,2.05,0.00,0.000,4,0.092,0.053,3596,165,1660,0,0,0,0,0,0
$GC,10161,1.18,307.5,190.7,12.4,356,10167,0.00,1.90,0.00,0.000,6,0.000,0.021,3596,1419,1660,0,0,0,0,0,0
$GC,10426,1.19,315.7,164.8,9.6,381,10436,0.00,0.00,7.78,0.517,6,0.000,0.000,3596,1421,1633,0,0,0,0,0,0
$GC,10688,1.19,315.7,137.7,10.9,406,10692,0.00,2.10,0.00,0.000,4,0.000,0.051,3596,163,1631,0,0,0,0,0,0
$GC,10736,1.19,315.7,132.3,11.6,410,10739,0.00,1.85,0.00,0.000,6,0.000,0.020,3596,1399,1630,0,0,0,0,0,0
$GC,11006,1.19,319.7,105.4,9.8,435,11018,0.00,2.42,5.40,0.420,4,0.000,0.025,3596,2926,1614,0,0,0,0,0,0
$GC,11076,1.37,341.7,99.0,9.0,441,11106,0.17,2.53,21.00,0.517,6,0.047,0.034,3680,1385,1524,0,0,0,0,0,0
$GC,11366,1.23,341.7,58.7,14.0,468,11370,0.30,2.03,0.00,0.000,4,0.081,0.046,3607,164,1522,0,0,0,0,0,0
$GC,11438,1.30,341.7,50.1,11.6,474,11442,0.00,1.80,0.00,0.000,6,0.000,0.018,3607,1380,1522,0,0,0,0,0,0
$GC,11720,1.38,341.7,20.9,10.8,505,11729,0.15,2.47,0.00,0.000,4,0.058,0.026,3666,2918,1522,0,0,0,0,0,0
$GC,11763,1.38,341.7,15.6,13.3,511,11772,0.08,2.55,0.00,0.000,6,0.074,0.034,3643,1376,1520,0,0,0,0,0,0
$STATE,11855,end climb,SURFACE_DEPTH_REACHED
$STATE,11855,begin surface coast
$FINISH,0.9,1.023510
$STATE,11892,end surface coast,CONTROL_FINISHED_OK
$STATE,11893,begin surface
$SM_CCo,11916,23.90,0.433,0,0,1369,380.21
$SM_GC,1.42,0.00,0.00,23.90,0.000,0.000,0.433,413,1529,1369,-13.47,-0.31,380.21
$IRIDIUM_FIX,2241.69,-15751.94,271001,202003
$TT8_MAMPS,0.027612
$HUMID,66.73
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.00
$XPDR_PINGS,6
$24V_AH,23.5,49.564
$10V_AH,9.9,39.360
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.850,125.550,426.025,23.900,0.000,58.795,71.455,254.036,1.500,0.000,13.895,1120.320,8326.271,498.660,1853.787,734.446,33.370,1284.797,0.000,1855.900,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,82.836,931.138,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.723,295.182,373.848,534.159,938.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,41457,530
$CAP_FILE_SIZE,129137,0
$CFSIZE,260165632,156164096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020812,232006,2248.069,-15749.969,33,1.5,33,10.1